Mitsubishi Electric MELSEC iQ-R Series User Manual page 74

3-axis linear interpolation control (INC linear 3)
■Operation chart
In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning
is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
• Positive movement amount: Positioning control to forward direction (Address increase direction)
• Negative movement amount: Positioning control to reverse direction (Address decrease direction)
Forward direction
Z axis
movement
Reverse
direction
Ex.
When the axis 1 movement amount is 10000, the axis 2 movement amount is 5000 and the axis 3 movement amount is 6000,
positioning is carried out as follows.
Axis 3
6000
Axis 3
movement
amount (6000)
■Restrictions
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 ( = 2
Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 1B15H, 1B16H)
occurs at a positioning start. (The maximum movement amount that can be set in "[Da.6] Positioning address/movement
amount" is "1073741824 ( = 2
3 MAJOR POSITIONING CONTROL
72
3.2 Setting the Positioning Data
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Forward direction
Y
2
Z
2
amount
X axis
movement
amount
Reverse direction
Reverse direction
Axis 2
5000
Start point address
(current stop position)
5000
Axis 1 movement amount (10000)
30
)".)
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Movement by linear interpolation
positioning of the X axis, Y axis, and Z axis
Y axis
movement
amount
X
2
Start point address (X1, Y1, Z1)
(current stop position)
Stop address after the positioning control
Axis 2 movement amount
Axis 1
10000
30
)" when "0: Composite speed" is set in "[Pr.20]
Forward
direction
(5000)